?? main.i
字號(hào):
/*****************************************************
This program was produced by the
CodeWizardAVR V1.25.6c Professional
Automatic Program Generator
?Copyright 1998-2006 Pavel Haiduc, HP vula_adcfoTech s.r.l.
http://www.hp vula_adcfotech.com
Project : 小車
Version : 0.00
Date : 2007-8-30
Author : momo
Company : zhong bei da xue
Comments:
Chip type : ATmega16L
Program type : Application
Clock frequency : 1.000000 MHz
Memory model : Small
External SRAM size : 0
Data Stack size : 256
*****************************************************/
//未使用的函數(shù)建議注釋掉,同時(shí)把頭文件里的函數(shù)定義注釋掉
/* ADC */
/* Analog Comparator */
/* USART */
/* SPI */
/* EEPROM */
/* Watchdog Timer Control Register */
/* Timer/Counter 2 */
/* Timer/Counter 1 */
/* Special Function I/O register */
/* Timer/Counter 0 */
/* MCU general */
/* SPM Conrol Register */
/* Timer/Counter Interrupts */
/* General Interrupts */
/* Port A bits */
/* Port B bits */
/* Port C bits */
/* Port D bits */
/* Lock and Fuse Bits with LPM/SPM instructions */
/* lock bits */
/* fuses low bits */
/* fuses high bits */
typedef unsigned char uchar; /* 定義可移植的無(wú)符號(hào)8位整數(shù)關(guān)鍵字 */
typedef signed char schar; /* 定義可移植的有符號(hào)8位整數(shù)關(guān)鍵字 */
typedef unsigned int uint; /* 定義可移植的無(wú)符號(hào)16位整數(shù)關(guān)鍵字 */
typedef signed int sint; /* 定義可移植的有符號(hào)16位整數(shù)關(guān)鍵字 */
typedef unsigned long ulong; /* 定義可移植的無(wú)符號(hào)32位整數(shù)關(guān)鍵字 */
typedef signed long slong; /* 定義可移植的有符號(hào)32位整數(shù)關(guān)鍵字 */
// CodeVisionAVR C Compiler
// (C) 1998-2001 Pavel Haiduc, HP InfoTech S.R.L.
// I/O registers definitions for the ATmega16
#pragma used+
sfrb TWBR=0;
sfrb TWSR=1;
sfrb TWAR=2;
sfrb TWDR=3;
sfrb ADCL=4;
sfrb ADCH=5;
sfrw ADCW=4; // 16 bit access
sfrb ADCSRA=6;
sfrb ADMUX=7;
sfrb ACSR=8;
sfrb UBRRL=9;
sfrb UCSRB=0xa;
sfrb UCSRA=0xb;
sfrb UDR=0xc;
sfrb SPCR=0xd;
sfrb SPSR=0xe;
sfrb SPDR=0xf;
sfrb PIND=0x10;
sfrb DDRD=0x11;
sfrb PORTD=0x12;
sfrb PINC=0x13;
sfrb DDRC=0x14;
sfrb PORTC=0x15;
sfrb PINB=0x16;
sfrb DDRB=0x17;
sfrb PORTB=0x18;
sfrb PINA=0x19;
sfrb DDRA=0x1a;
sfrb PORTA=0x1b;
sfrb EECR=0x1c;
sfrb EEDR=0x1d;
sfrb EEARL=0x1e;
sfrb EEARH=0x1f;
sfrw EEAR=0x1e; // 16 bit access
sfrb UBRRH=0x20;
sfrb UCSRC=0X20;
sfrb WDTCR=0x21;
sfrb ASSR=0x22;
sfrb OCR2=0x23;
sfrb TCNT2=0x24;
sfrb TCCR2=0x25;
sfrb ICR1L=0x26;
sfrb ICR1H=0x27;
sfrb OCR1BL=0x28;
sfrb OCR1BH=0x29;
sfrw OCR1B=0x28; // 16 bit access
sfrb OCR1AL=0x2a;
sfrb OCR1AH=0x2b;
sfrw OCR1A=0x2a; // 16 bit access
sfrb TCNT1L=0x2c;
sfrb TCNT1H=0x2d;
sfrw TCNT1=0x2c; // 16 bit access
sfrb TCCR1B=0x2e;
sfrb TCCR1A=0x2f;
sfrb SFIOR=0x30;
sfrb OSCCAL=0x31;
sfrb OCDR=0x31;
sfrb TCNT0=0x32;
sfrb TCCR0=0x33;
sfrb MCUCSR=0x34;
sfrb MCUCR=0x35;
sfrb TWCR=0x36;
sfrb SPMCR=0x37;
sfrb TIFR=0x38;
sfrb TIMSK=0x39;
sfrb GIFR=0x3a;
sfrb GICR=0x3b;
sfrb OCR0=0X3c;
sfrb SPL=0x3d;
sfrb SPH=0x3e;
sfrb SREG=0x3f;
#pragma used-
// Interrupt vectors definitions
// Needed by the power management functions (sleep.h)
#asm
#ifndef __SLEEP_DEFINED__
#define __SLEEP_DEFINED__
.EQU __se_bit=0x40
.EQU __sm_mask=0xB0
.EQU __sm_powerdown=0x20
.EQU __sm_powersave=0x30
.EQU __sm_standby=0xA0
.EQU __sm_ext_standby=0xB0
.EQU __sm_adc_noise_red=0x10
.SET power_ctrl_reg=mcucr
#endif
#endasm
extern unsigned char TWI_Send(uchar Slave,uchar Address,uchar Data);
//extern unsigned char TWI_SendStr(unsigned char Slave,unsigned char Address,unsigned char *Array,unsigned char CNT);
extern unsigned char TWI_Receive(unsigned char Slave,unsigned char Address);
// CodeVisionAVR C Compiler
// (C) 1998-2000 Pavel Haiduc, HP InfoTech S.R.L.
#pragma used+
void delay_us(unsigned int n);
void delay_ms(unsigned int n);
#pragma used-
extern void Init_IO ( void );
extern void Init_T1( void );
extern void Init_T0( void );
extern void Init_T2( void );
extern void Init_device( void ) ;
extern void Init_TWI(void);
//extern unsigned char Read_PCF8563T(unsigned char Address);
extern void Write_PCF8563T(unsigned char Address , char date);
extern void start_PCF( void );
extern char Read_sec( void);
extern char Read_miu( void );
void LCD_init(void);
void LCD_clear(void);
void LCD_write_str(unsigned char X,unsigned char Y,unsigned char flash *s);
void LCD_write_char(unsigned char X,unsigned char Y,unsigned char data);
void LCD_write_com(unsigned char com);
//void CursorScroll(void);
//void ScreenScroll(void);
/****************************************************
全局變量聲明
*****************************************************/
volatile unsigned char flage=0X00;
volatile unsigned char Timer[3]={0,0,0};
volatile unsigned char write;
volatile unsigned char BalanceTime=0;
unsigned char vula_adc;
flash char *step[5]={ "stepA","stepB","stepC","back ","over "} ;
flash char *mode[3]={"normal","advanc","demo "};
flash char *display[5]={"frist","sec ","tree ","four ","five "};
/******************************************************
系統(tǒng)中斷 （顯示，蜂鳴）
*******************************************************/
interrupt [20 ] void tim0_comp_isr(void)
{
static unsigned char buzz;
switch ( flage )
{
case 0X04:
Timer[0]=Read_sec( );
if( Timer[0]==Timer[2] )
;
else
{
BalanceTime++;
LCD_write_char( 13 , 1 , ( BalanceTime%10)+'0' );
LCD_write_char( 12 , 1 , ( BalanceTime/10)+'0' );
Timer[2]=Timer[0] ;
}
goto j1;
break;
case 0X84:
Timer[0]=Read_sec( );
if( Timer[0]==Timer[2] )
;
else
{
BalanceTime++;
LCD_write_char( 13 , 1 , ( BalanceTime%10)+'0' );
LCD_write_char( 12 , 1 , ( BalanceTime/10)+'0' );
Timer[2]=Timer[0] ;
}
case 0X80:
if( (++buzz) == 10 )
{
buzz=0;
PORTC.2=1;
flage -=0x80;
}
j1:
case 0X00:
Timer[0]=Read_sec( );
write=Timer[0];
LCD_write_char( 11 , 0 , (write& 0x0f)+ '0' );
LCD_write_char( 10 , 0 , ( (write>>4)&0x07) + '0' );
Timer[1]=Read_miu( );
write=Timer[1];
LCD_write_char( 4 , 0 , (write& 0x0f)+'0');
break;
default: break;
}
}
/*****************************************************************************
系統(tǒng)中斷T2 (尋線校正)
*****************************************************************************/
interrupt [4 ] void tim2_comp_isr(void)
{
if(PORTD.1==1)
{
if(PIND.6==1)
TCCR1A|=0X40;
else
TCCR1A&=0XBF;
if(PIND.7==1)
TCCR1A|=0X10;
else
TCCR1A&=0XEF;
}
else
{
if(PIND.2==1)
TCCR1A|=0X40;
else
TCCR1A&=0XBF;
if(PIND.3==1)
TCCR1A|=0X10;
else
TCCR1A&=0XEF;
}
}
/**********************************************************
讀取ad值
***********************************************************/
unsigned char get_ad(void) {
unsigned char i;
ADMUX = 0x60; /*基準(zhǔn)AVCC、左對(duì)齊、通道0*/
ADCSRA = 0xC2;
/*使能、開(kāi)啟、4分頻*/
while(!(ADCSRA & (1 << 4))); /*等待*/
i = ADCH;
ADCSRA &= ~(1 << 4); /*清標(biāo)志*/
ADCSRA &= ~(1 << 7); /*關(guān)閉轉(zhuǎn)換*/
return i;
}
/*********************************************************************
蜂鳴器函數(shù)
*********************************************************************/
void beep( void )
{
PORTC.2=0;
delay_ms(500);
PORTC.2=1;
}
/**********************************************************************
根據(jù)ad值選擇平衡調(diào)整模式
**********************************************************************/
unsigned char output( void )
{
if( vula_adc>=0X7D && vula_adc<=0X80 )
return 0;
if( vula_adc>=0X7C && vula_adc<=0X81 )
return 1 ;
if( vula_adc>=0X7B && vula_adc<=0X82 )
return 2 ;
if( vula_adc>=0X7A && vula_adc<=0X83)
return 3 ;
if( vula_adc>=0X79 && vula_adc<=0X84)
return 4 ;
if( vula_adc>=0X78 && vula_adc<=0X85)
return 5 ;
if( vula_adc>=0X77 && vula_adc<=0X86)
return 6 ;
if( vula_adc>=0X76 && vula_adc<=0X87)
return 7 ;
if( vula_adc>=0X75 && vula_adc<=0X88)
return 8 ;
if(vula_adc >=0X74 && vula_adc<= 0X89)
return 9;
}
/**************************************************************************************************
平衡驅(qū)動(dòng)控制函數(shù)
**************************************************************************************************/
void mortorgo( unsigned char high , unsigned char low, unsigned int go_time, unsigned int back_time )
{
OCR1AH=high;
OCR1AL = low; //new
OCR1BH=high;
OCR1BL= low;
if( vula_adc<0x7F)
{
PORTD.1=0;
PORTD.0=0;
}
else
{
PORTD.1=1;
PORTD.0=1;
}
TCCR1A|=0X40 ;
TCCR1A|=0X10 ;
delay_ms( go_time ) ;
TCCR1A&=0XBF ;
TCCR1A&=0XEF;
if( vula_adc<0x7F)
{
PORTD.1=1;
PORTD.0=1;
}
else
{
PORTD.1=0;
PORTD.0=0;
}
TCCR1A|=0X40 ;
TCCR1A|=0X10 ;
delay_ms( back_time ) ;
TCCR1A&=0XBF ;
TCCR1A&=0XEF;
}
void Findbenlen( void )
{
unsigned char Flage_balan=1;
unsigned char Flage_select;
unsigned char count=0;
do{
vula_adc = get_ad ( );
Flage_select = output( ) ;
switch ( output( ) ) {
case 0 :
TCCR1A&=0XBF ;
TCCR1A&=0XEF;
if(count<=9)
count++;
else
Flage_balan=0;
break;
case 1 :
count=0;
mortorgo( 0x03,0xFF , 400, 350 ) ;
break;
case 2 :
count=0;
mortorgo( 0x02,0xFF , 800, 700 ) ;
break;
case 3 :
count=0;
mortorgo( 0x02,0xFF , 900, 800 ) ;
break;
case 4 :
count=0;
mortorgo( 0x02,0xFF , 900, 700 ) ;
break;
case 5 :
count=0;
mortorgo( 0x02,0xFF , 900, 650 ) ;
break;
case 6 :
count=0;
mortorgo( 0x02,0xFF , 900,600 ) ;
break;
case 7 :
count=0;
mortorgo( 0x02,0xFF , 1000, 700 ) ;
break;
case 8 :
count=0;
mortorgo( 0x02,0xFF , 1000,600 ) ;
break;
case 9 :
count=0;
mortorgo( 0x02,0xFF , 1000,500) ;
break;
default:
count=0;
mortorgo( 0x02,0xFF , 1000,500) ;
break;
};
delay_ms(200);
}
while( Flage_balan );
}
unsigned char SelectMode ( void )
{
unsigned char temp=0;
LCD_write_str( 0 , 0 ,"press START key");
LCD_write_str( 0 , 1 ,"zhong bei da xue ");
while( PINC.6 ==1 );
while(PINC.6 ==0);
LCD_clear( );
LCD_write_str( 0 , 0 ,"mode:");
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